BtRWCollisionAlgorithm Class Reference

The RobWork implementation of a Bullet collision algorithm, using the standard ContactDetector. More...

#include <BtRWCollisionAlgorithm.hpp>

Inherits btCollisionAlgorithm.

Classes
struct	CreateFunc
	Function for creating a BtRWCollisionAlgorithm. More...

Public Member Functions
	BtRWCollisionAlgorithm (rw::core::Ptr< const rwsim::contacts::ContactDetector > detector, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0Wrap, const btCollisionObjectWrapper *col1Wrap)
	Construct new collision algorithm for Bullet that wraps a RobWork ContactDetector. More...
virtual	~BtRWCollisionAlgorithm ()
	Destructor.
virtual void	processCollision (const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
	Find the contacts. More...
virtual btScalar	calculateTimeOfImpact (btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
	Calculate the time of impact (not supported). More...
virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)
	Get all contact manifolds. More...

Detailed Description

The RobWork implementation of a Bullet collision algorithm, using the standard ContactDetector.

Constructor & Destructor Documentation

BtRWCollisionAlgorithm()

BtRWCollisionAlgorithm	(	rw::core::Ptr< const rwsim::contacts::ContactDetector >	detector,
		const btCollisionAlgorithmConstructionInfo &	ci,
		const btCollisionObjectWrapper *	col0Wrap,
		const btCollisionObjectWrapper *	col1Wrap
	)

Construct new collision algorithm for Bullet that wraps a RobWork ContactDetector.

Parameters

detector	[in] the contact detector to use.
ci	[in] the construction info.
col0Wrap	[in] information about the first bullet body.
col1Wrap	[in] information about the second bullet body.

Member Function Documentation

calculateTimeOfImpact()

virtual btScalar calculateTimeOfImpact ( btCollisionObject *  body0, btCollisionObject *  body1, const btDispatcherInfo &  dispatchInfo, btManifoldResult *  resultOut  )

virtual

Calculate the time of impact (not supported).

Parameters

body0	[in] information about the first bullet body.
body1	[in] information about the second bullet body.
dispatchInfo	[in] info about the dispatcher.
resultOut	[out] the resulting contacts.

Returns

the time of impact.

Exceptions

Exception

always (not supported).

getAllContactManifolds()

virtual void getAllContactManifolds ( btManifoldArray &  manifoldArray )

virtual

Get all contact manifolds.

Note

The contact manifold will be appended to the given array.

Parameters

manifoldArray

[out] get all manifolds.

Exceptions

Exception

if no manifold could be retrieved from dispatcher.

processCollision()

virtual void processCollision ( const btCollisionObjectWrapper *  body0Wrap, const btCollisionObjectWrapper *  body1Wrap, const btDispatcherInfo &  dispatchInfo, btManifoldResult *  resultOut  )

virtual

Find the contacts.

Parameters

body0Wrap	[in] information about the first bullet body.
body1Wrap	[in] information about the second bullet body.
dispatchInfo	[in] info about the dispatcher.
resultOut	[out] the resulting contacts.

Exceptions

Exception

if resultOut is null or no manifold could be retrieved from dispatcher.

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The documentation for this class was generated from the following file:

• BtRWCollisionAlgorithm.hpp